JP6447544B2 - Control device - Google Patents

Description

  The present invention relates to a control device that is mounted on a moving body, tracks a target based on an image signal, and controls the firing of an ejected body.

  As a control device mounted on a moving object, the target image is tracked using a TV camera, the gun is aimed at the tracked target, and the target image is tracked while shooting at the aimed target. What is going on is known. When aiming a gun, it is necessary to control to ensure the stability of image tracking at the time when the projectile such as a bullet ejected from the gun is expected to arrive.

  The control device mounted on the conventional moving body temporarily stops the target signal detection processing of the image tracking device in the vicinity of the estimated arrival time of the projectile, and maintains a certain target angle detection position. By automatically restarting the image tracking process after the arrival of the target, stable target tracking and aiming of the projectile can be continued without being disturbed by the image of the projectile superimposed on the target when the projectile arrives ( For example, see Patent Document 1).

JP 2008-134028 A (FIG. 1)

  The conventional control device always suspends the image tracking process at the time when the projectile is expected to arrive, regardless of the degree of influence of the image on the target when the projectile arrives.

  However, when the projectile is fired a plurality of times in one shot, the time for maintaining a certain target angle detection position, that is, the time for temporarily suspending the image tracking process becomes longer. For this reason, even if the projectile does not affect the target, the target avoids while the image tracking process is temporarily suspended, and the target moves off the center of the screen. There was a problem that the accuracy decreased.

  The present invention has been made in order to solve such a problem, and provides a control device that continues the target image tracking process when the image of the projectile does not affect the image tracking and accurately aims the target. The purpose is to obtain.

  The control device according to the present invention is mounted on a moving body having an ejector for ejecting an ejector, has an imager for capturing a target image, and rotates in a turning and elevation direction to direct the target direction. A monitoring device that outputs an angle at which the center of the image pickup device is directed, and a target image captured by the image pickup device to calculate an angle in the screen of the target and perform a tracking process; From the image tracking processor that temporarily suspends the target image tracking processing and the image tracking processor only when the image of the projecting body is high-intensity while the projecting body ejected from the screen passes through the screen. A tracking controller for instructing the directivity angle of the monitoring device based on the angle at which the center of the imager is directed and the angle in the target screen, and the directivity angle of the monitoring device calculated by the tracking controller Calculates the directivity angle of the injector from , In which a injection controller for commanding the pointing angle relative to the injector.

  According to the present invention, the target signal detection process is performed only when the image of the projectile has high brightness and affects the target image tracking at the estimated arrival time of the projectile calculated according to the target distance. The target image tracking process can be continued by resuming the image tracking process automatically when it is temporarily interrupted and is not affected by the image of the projectile. Thereby, the fall of the aiming precision of an injection body can be suppressed and maintained.

It is a figure which shows the structure of the control apparatus by Embodiment 1. FIG. It is a figure which shows the operation | movement of the moving body carrying the control apparatus by Embodiment 1. FIG. It is a figure which illustrates the image of the tracking target by the control apparatus of Embodiment 1-4. It is a figure which shows the structure of the control apparatus by Embodiment 2. FIG. FIG. 10 is a diagram illustrating a configuration of a control device according to a third embodiment. It is a figure which shows the structure of the control apparatus by Embodiment 4. FIG.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of a control device according to Embodiment 1 of the present invention. FIG. 2 is a diagram illustrating an operational state of a mobile object equipped with the control device according to the first embodiment. Hereinafter, the configuration and operation of the control device according to Embodiment 1 will be described.
In FIG. 1, the control device 10 according to Embodiment 1 includes a monitoring device 3, an image tracking processor 6, a tracking controller 7, and an injection controller 8. The control device 10 is connected to the injector 2. The control device 10 and the injector 2 are mounted on a moving body 11 such as a vehicle or a ship. In FIG. 2, the moving body 11 is moving on the horizontal surface 15 on the ground or the sea. The ejector 2 ejects an ejector 14 such as a bullet toward the tracking target 12 whose image is being tracked by the control device 10, and the ejector 14 flies along the trajectory 17 of the ejector 14.

  The control device 10 acquires a video signal from the heat source with the monitoring device 3, and uses the image tracking processor 6 to track the tracking target 12 with the target in the acquired video signal as the tracking target 12. The tracking controller 7 is input with a tracking target position S3 which is position information within the screen of the tracking target 12 acquired from the image tracking processor 6. The tracking controller 7 controls the line-of-sight direction of the monitoring device 3 so as to continue image tracking of the tracking target 12 based on the tracking target position S3.

  The monitoring device 3 includes an imaging device 4 and a distance measuring device 5. The image pickup device 4 is composed of an infrared imaging device. The distance measuring device 5 includes a laser distance measuring device, a stereo camera, and the like. The image pickup device 4 and the distance measuring device 5 are arranged so that the line-of-sight directions are the same. The monitoring device 3 pivotally supports the imaging device 4 and the distance measuring device 5 so that the line-of-sight directions of the imaging device 4 and the distance measuring device 5 can be rotated in the vertical direction (elevation angle direction) or the horizontal direction (azimuth angle direction). doing. The image pickup device 4 outputs a video signal of the heat source in the sight line direction to the image tracking processing device 6. The field of view 16 of the image pickup device 4 has a viewing angle that can track the tracking target 12, but the projecting body 14 often flies at an angle higher than the viewing angle of the field of view 16. The distance measuring device 5 measures the distance to the tracking target 12 in the line-of-sight direction, and outputs the measured distance to the injection controller 8.

  The injection controller 8 obtains a tracking target position S3 that is position information within the screen of the tracking target 12 acquired by the image tracking processor 6 via the tracking controller 7, and also acquires the tracking target acquired from the distance measuring device 5. Get a distance of up to 12. The ejection controller 8 ejects the projectile 14 such as a bullet toward the tracking target 12 based on the acquired positional information on the tracking target 12 in the screen (tracking target position S3) and the acquired distance to the tracking target 12. The muzzle of the injector 2 is determined as follows. After determining the muzzle of the injector 2, the injection controller 8 sends a firing control signal for the projectile 14 to the injector 2. Upon receiving the firing control signal from the ejection controller 8, the ejector 2 ejects the projectile 14 from the muzzle. The injection controller 8 sends a firing state signal S2 indicating the state of firing of the projectile 14 by the ejector 2 to the determination processor 19 simultaneously with the output of the firing control signal.

  The image tracking processor 6 includes an image tracking unit 9 and a determination processor 19. The image tracking unit 9 includes an image tracker 21 and a target angle holder 20. The image tracker 21 receives the video signal S1 from the imaging device 4. The image tracker 21 detects the target signal distinguished from the background based on the image of the video signal S1 obtained by the image pickup device 4. The image tracker 21 observes the position of the tracking target 12 from the detected target signal and observes a luminance displacement amount indicating a luminance displacement of the tracking target 12. At this time, the image tracker 21 measures the upper and lower angles (the depression angle) and the left and right angles (azimuth angles) of the target signal from the screen center, and obtains the position as the tracking target 12 position. Further, image tracking processing for continuously obtaining the position of the tracking target 12 in the target detection gate is performed using the vertical and horizontal predetermined angle ranges centered on the position of the obtained tracking target 12 as a target detection gate. The image tracker 21 outputs the position of the tracking target 12 to the target angle holder 20. The target angle holder 20 stores the vertical angle and the horizontal angle that are the position of the tracking target 12 output from the image tracker 21 in the storage device. The image tracking unit 9 outputs the position of the tracking target 12 selected from either the image tracker 21 or the target angle holder 20 to the determination processor 19. The image tracker 21 of the image tracking unit 9 outputs the luminance displacement amount of the tracking target 12 to the determination processor 19. The determination processor 19 outputs the position of the tracking target 12 from the image tracking unit 9 to the tracking controller 7 as the tracking target position S3.

  The tracking controller 7 obtains the position of the tracking target 12 (tracking target position S3) from the determination processor 19. The tracking controller 7 monitors based on the position of the tracking target 12 (tracking target position S3) so that the tracking target 12 continues to be located at the center of the screen including the tracking target 12 obtained by the image tracking processor 6. The line-of-sight direction of the machine 3 is controlled vertically and horizontally.

  The determination processor 19 receives from the injection controller 8 a firing state signal S2 indicating a state of firing of the projecting body 14 by the ejector 2. The determination processor 19 performs an image tracking continuation determination process when there is a target luminance displacement amount measured by the image tracker 21 and an input of the firing state signal S2 from the injection controller 8.

Here, the image tracking continuation determination process by the target luminance displacement amount determination unit 31 in the determination processor 19 will be described with reference to FIGS.
FIGS. 3A and 3B are diagrams illustrating an image of a tracking target by the control device according to the first embodiment, where FIG. 3A is a diagram illustrating a luminance displacement of a normal tracking target, and FIG. It is a figure which shows the luminance displacement of a tracking target.
The target luminance displacement amount determination unit 31 obtains the luminance displacement amount of the tracking target 12 from the image tracker 21 and determines whether or not the projecting body 14 is a high luminance tracking target that affects the automatic tracking of the tracking target 12. Determine. When the projecting body 14 is a high-brightness tracking target that affects the automatic tracking of the tracking target 12, the image tracking processor 6 and the tracking controller 7 can track the projecting body 14 and continue the automatic tracking of the tracking target 12. This may cause effects such as disappearance or tracking operation becoming unstable.

  (1) At the time t0 (t0 = <t1) immediately before the time t1 when the projecting body 14 is expected to arrive at the tracking target 12, the target brightness displacement determining unit 31 determines that the brightness displacement of the projecting body 14 is predetermined. It is determined whether or not the tracking target has a high luminance that is equal to or greater than the luminance value. In this determination, when it is determined that the projecting body 14 becomes a high-brightness tracking target equal to or higher than a predetermined luminance value and affects the automatic tracking of the tracking target 12, the determination processor 19 instructs the image tracking unit 9. A command to temporarily stop the target signal detection process by the image tracker 21 is sent. Further, the determination processor 19 switches the output of the image tracking unit 9 so as to select and output the target angle holder 20 that holds the target angle detection position. The determination processor 19 outputs the position of the tracking target 12 stored in the selected target angle holder 20 to the tracking controller 7 as the tracking target position S3.

For example, in FIG. 3B, when the projecting body 14 by the ejector 2 is a high-luminance tracking target such as a fluorescent bullet, when the heat source arrives near the tracking target, the brightness around the tracking target increases, and the projecting body 14 Affects the automatic tracking of the tracking target 12 by the image tracking processor 6 and the tracking controller 7. That is, it becomes difficult to identify the projectile 14 and the tracking target 12, and the projectile 14 is erroneously recognized as the tracking target 12, so that the positional accuracy of the tracking target 12 is deteriorated.
In this way, when the projecting body 14 by the ejector 2 is a fluorescent bullet, the target luminance displacement amount determination unit 31 determines that the projecting body 14 is a high-luminance tracking target that affects the automatic tracking of the tracking target 12, and The image tracking process of the tracking target 12 is temporarily stopped. Thereby, the effect of maintaining the arrival accuracy of the injection body 14 without deteriorating is obtained.

  (2) Further, at time t2 (t1 <t2) after time t1 when the projecting body 14 arrives at the tracking target 12, the target luminance displacement amount determination unit 31 determines that the luminance displacement amount of the projecting body 14 is a predetermined luminance value. When it is determined that the tracking target is a normal tracking target that is not high brightness and does not affect the automatic tracking of the tracking target 12, the determination processor 19 selects the image tracking unit 21 for the image tracking unit 9. Output. Accordingly, the image tracker 21 automatically restarts the image tracking process or continues the image tracking process.

  For example, in FIG. 3A, when the projecting body 14 by the ejector 2 is a normal bullet, the image tracking processor 6 does not detect the normal bullet as a target because there is no heat source, and the projecting body 14 does not track the image. This does not affect the automatic tracking of the tracking target 12 by the processor 6 and the tracking controller 7. Thus, when the projecting body 14 by the ejector 2 is a normal bullet, the determination processor 19 is the normal tracking target 12 in which the projecting body 14 does not affect the automatic tracking of the tracking target 12, or the projecting body 14 is It is determined that the tracking target 12 is not a high-brightness tracking target that affects the automatic tracking of the tracking target 12, and the image tracking process of the tracking target 12 is continued. At this time, the determination processor 19 does not send a command to temporarily stop the target signal detection processing by the image tracker 21 to the image tracker 9. Thereby, the effect of maintaining the arrival accuracy of the injection body 14 without deteriorating is obtained.

  As described above, the control device according to the first embodiment is mounted on the moving body 11 having the ejector 2 that ejects the projecting body 14, and includes the imaging device 4 and the distance measuring device 5 for capturing the target image. The monitor 3 that rotates in the turning and elevation directions and directs the target direction, and outputs the angle at which the center of the image pickup device 4 is directed, and the image of the tracking target 12 imaged by the image pickup device 4 Based on this, the angle of the tracking target 12 in the screen is calculated and tracking processing is performed, and the image of the projecting body 14 has high brightness while the projecting body 14 ejected from the ejector 2 passes through the screen. Only in the case, the image tracking processor 6 that temporarily stops the image tracking processing of the tracking target 12, the angle at which the center of the image pickup device 4 from the image tracking processor 6 is directed, and the tracking target 12 in the screen Based on the angle of the monitoring machine 3 A directivity angle of the injector 2 is calculated from the directivity angle of the tracking controller 7 that instructs the directivity angle and the directivity angle of the monitoring device 3 calculated by the tracking controller 7, and the directivity angle is instructed to the ejector 2. An injection controller 8 is provided.

  The image tracking processor 6 includes an image tracking unit 9 and a determination processor 19. The determination processor 19 detects a target signal that is distinguished from the background based on the image obtained by the image pickup device 4 and the target. Observe the amount of luminance displacement. The image tracking unit 9 performs image tracking obtained as vertical and horizontal angles from the screen center, and detects a target position. When the determination processor 19 receives the target luminance displacement amount and a signal indicating the firing state from the injection controller 8, the projecting body 14 is automatically set at the time when the projecting body 14 is expected to arrive at the target. Only when the tracking is affected, the target signal detection process of the angle tracking device is temporarily stopped, the target angle holder 20 that holds the target angle detection position is selected, and the image tracking process is performed after the projectile arrives. The image tracker 21 to be automatically restarted is selected.

  As a result, the target in the image tracking processor 6 is used only when the projected image of the projecting body 14 has high brightness and affects the target image tracking at the predicted arrival time of the projecting body 14 calculated according to the target distance. When the signal detection process is temporarily interrupted and the image of the projecting body 14 is not affected, the image tracking process in the image tracking processor 6 is automatically restarted and the target image tracking process can be continued. it can. Thereby, the fall of the aiming precision of the injection body 14 can be suppressed and maintained.

Embodiment 2. FIG.
FIG. 4 is a diagram showing a configuration of a control device according to Embodiment 2 of the present invention. The configuration and operation of the control device according to Embodiment 2 will be described below.
In FIG. 4, the control device according to the second embodiment includes a monitoring device 3, a tracking controller 7, and an injection controller 8, similar to the control device of the first embodiment. The control device of the second embodiment has an image tracking processor 61 instead of the image tracking processor 6 of the first embodiment. The image tracking processor 61 includes an image tracking unit 9 and a determination processor 191. The image tracking unit 9 includes an image tracker 211 and a target angle holder 20 as in FIG. 1 of the first embodiment. The determination processor 191 of the second embodiment has a target area displacement amount determination unit 32. Other configurations and operations are the same as those described in FIG. 1 of the first embodiment, and detailed description thereof is omitted.

  The control device 10 acquires a video signal from the heat source with the monitoring device 3, and uses the image tracking processor 61 to track the tracking target 12 with the target in the acquired video signal as the tracking target 12. The tracking controller 7 receives a tracking target position S3 that is positional information within the screen of the tracking target 12 acquired from the image tracking processor 61. The tracking controller 7 controls the line-of-sight direction of the monitoring device 3 so as to continue image tracking of the tracking target 12 based on the tracking target position S3.

  The image tracking processor 61 includes an image tracking unit 9 and a determination processor 191. The image tracking unit 9 includes an image tracker 211 and a target angle holder 20. The image tracker 211 receives the video signal S1 from the imaging device 4. The image tracker 211 detects a target signal distinguished from the background based on the image of the video signal S1 obtained by the image pickup device 4. The image tracker 211 observes the position of the tracking target 12 from the detected target signal. At this time, the image tracker 211 measures the upper and lower angles (the depression angle) and the left and right angles (azimuth angles) of the target signal from the screen center, and obtains them as the position of the tracking target 12. Further, image tracking processing for continuously obtaining the position of the tracking target 12 in the target detection gate is performed using the vertical and horizontal predetermined angle ranges centered on the position of the obtained tracking target 12 as a target detection gate. The image tracker 211 outputs the position of the tracking target 12 to the target angle holder 20. The target angle holder 20 stores the vertical angle and the horizontal angle that are the position of the tracking target 12 output from the image tracker 211 in the storage device. The image tracking unit 9 outputs the position of the tracking target 12 selected from either the image tracker 211 or the target angle holder 20 to the determination processor 191. The image tracker 211 of the image tracking unit 9 observes the area displacement amount indicating the displacement of the area of the tracking target 12. The determination processor 19 outputs the position of the tracking target 12 from the image tracking unit 9 to the tracking controller 7 as the tracking target position S3.

  The tracking controller 7 obtains the position of the tracking target 12 (tracking target position S3) from the determination processor 191. The tracking controller 7 monitors based on the position of the tracking target 12 (tracking target position S3) so that the tracking target 12 continues to be located at the center of the screen including the tracking target 12 obtained by the image tracking processor 61. The line-of-sight direction of the machine 3 is controlled vertically and horizontally.

  The determination processor 191 receives a firing state signal S <b> 2 indicating the state of firing of the projectile 14 by the ejector 2 from the injection controller 8. The target area displacement amount determination unit 32 in the determination processor 191 performs image tracking continuation determination processing when there is a measured area displacement amount of the tracking target 12 and an input of the firing state signal S2 from the injection controller 8. I do.

Here, the image tracking continuation determination processing by the target area displacement amount determination unit 32 will be described with reference to FIGS. FIGS. 3C and 3D are diagrams illustrating an image of a tracking target by the control device according to the first embodiment, in which FIG. 3C is a diagram illustrating an area displacement of a normal tracking target, and FIG. It is a figure which shows the area displacement of a tracking target.
The target area displacement amount determination unit 32 obtains the area displacement amount of the tracking target 12 from the image tracker 211, and is the projecting body 14 a tracking target with a large area displacement that affects the automatic tracking of the tracking target 12? Determine whether or not. When the projecting body 14 is a tracking target with high brightness and large area displacement that affects the automatic tracking of the tracking target 12, the image tracking processor 61 and the tracking controller 7 track the projecting body 14 and automatically track the tracking target 12. This may cause an effect such that tracking cannot be continued or the tracking operation becomes unstable.

  (1) At the time t0 (t0 = <t1) immediately before the time t1 when the projecting body 14 is expected to arrive at the tracking target 12, the target area displacement determining unit 32 determines that the area displacement of the projecting body 14 is predetermined. It is determined whether or not the tracking target has a large area displacement that is greater than or equal to the value. In this determination, when it is determined that the projectile 14 becomes a tracking target having a large area displacement equal to or greater than a predetermined value and affects the automatic tracking of the tracking target 12, the determination processor 191 causes the image tracking unit 9 to A command to temporarily stop the target signal detection process by the tracker 211 is sent. Further, the determination processor 191 switches the output of the image tracking unit 9 so as to select and output the target angle holder 20 that holds the target angle detection position. The determination processor 191 outputs the position of the tracking target 12 stored in the selected target angle holder 20 to the tracking controller 7 as the tracking target position S3.

For example, in FIG. 3C, when the projecting body 14 by the ejector 2 is a tracking target with high brightness and large area displacement like a fluorescent bullet, the luminance around the tracking target increases when the heat source arrives near the tracking target. The projectile 14 affects the automatic tracking of the tracking target 12 by the image tracking processor 61 and the tracking controller 7. That is, it becomes difficult to identify the projectile 14 and the tracking target 12, and the projectile 14 is erroneously recognized as the tracking target 12, so that the positional accuracy of the tracking target 12 is deteriorated.
In this way, when the projecting body 14 by the ejector 2 is a fluorescent bullet, the target area displacement amount determination unit 32 is a tracking target with high brightness and large area displacement that the projecting body 14 affects the automatic tracking of the tracking target 12. And the image tracking process of the tracking target 12 is temporarily stopped. Thereby, the effect of maintaining the arrival accuracy of the injection body 14 without deteriorating is obtained.

  (2) Further, at time t2 (t1 <t2) after time t1 when the ejector 14 arrives at the tracking target 12, the target area displacement amount determination unit 32 determines that the area displacement amount of the ejector 14 is less than a predetermined value. In the case where it is determined that the tracking target is a normal tracking target that does not have high luminance and does not increase in area and does not affect the automatic tracking of the tracking target 12, the determination processing unit 191 causes the image tracking unit 9 to perform image tracking. 211 is selected and output. Accordingly, the image tracker 211 automatically restarts the image tracking process or continues the image tracking process.

  For example, in FIG. 3C, when the projecting body 14 by the ejector 2 is a normal bullet, the image tracking processor 61 does not detect the normal bullet as a target because there is no heat source, and the projecting body 14 does not detect the image tracking. The automatic tracking of the tracking target 12 by the processor 61 and the tracking controller 7 is not affected. In this way, when the projecting body 14 by the ejector 2 is a normal bullet, the determination processor 191 is the normal tracking target 12 in which the projecting body 14 does not affect the automatic tracking of the tracking target 12, or the projecting body 14 is It is determined that the tracking target 12 is not a tracking target having a large area displacement that affects the automatic tracking of the tracking target 12, and the image tracking process of the tracking target 12 is continued. At this time, the determination processor 191 does not send a command to temporarily stop the target signal detection process by the image tracker 211 to the image tracker 9. Thereby, the effect of maintaining the arrival accuracy of the injection body 14 without deteriorating is obtained.

  As described above, the control device according to the second embodiment is mounted on the moving body 11 having the ejector 2 that ejects the projecting body 14, and includes the imaging device 4 and the distance measuring device 5 for capturing the target image. The monitor 3 that rotates in the turning and elevation directions and directs the target direction, and outputs the angle at which the center of the image pickup device 4 is directed, and the image of the tracking target 12 imaged by the image pickup device 4 Based on this, the angle of the tracking target 12 in the screen is calculated and tracking processing is performed, and the image of the projecting body 14 has a large area change while the projecting body 14 ejected from the injector 2 passes through the screen. Only in the case of the tracking target 12, the image tracking processing unit 61 that temporarily stops the image tracking processing of the tracking target 12, the angle at which the center of the image pickup device 4 from the image tracking processing unit 61 is directed, and the tracking target 12 The angle in the screen The directivity angle of the ejector 2 is calculated from the directivity angle of the monitoring device 3 calculated from the tracking controller 7 that commands the directivity angle of the monitoring device 3 and the tracking controller 7. And an injection controller 8 for instructing a directivity angle.

  The image tracking processor 61 includes an image tracking unit 9 and a determination processor 191. The determination processor 191 detects a target signal that is distinguished from the background based on an image obtained by the image pickup device 4 and a target. Observe the amount of area displacement. The image tracking unit 9 performs image tracking obtained as the vertical and horizontal angles from the screen center, and detects the target position. When the determination processor 191 receives the target area displacement amount and the signal indicating the firing state from the injection controller 8, the projecting body 14 is automatically tracked at the time when the projecting body 14 is expected to arrive at the target. The target signal detection process of the angle tracking device is temporarily stopped only when the influence is exerted, the target angle holder 20 that holds the target angle detection position is selected, and the image tracking process is automatically performed after the arrival of the projectile. The image tracker 21 to be resumed is selected. As a result, the target image tracking process can be continued, so that the effect of maintaining the arrival accuracy of the projecting body 14 without deteriorating can be obtained.

Embodiment 3 FIG.
FIG. 5 is a diagram showing a configuration of a control device according to Embodiment 3 of the present invention. The configuration and operation of the control device according to Embodiment 3 will be described below.
In FIG. 5, the control device according to the third embodiment includes a monitoring device 3, a tracking controller 7, and an injection controller 8, similar to the control device of the first embodiment. The control device according to the third embodiment includes an image tracking processor 62 instead of the image tracking processor 6 according to the first embodiment. The image tracking processor 62 includes an image tracking unit 9 and a determination processor 192. The image tracking unit 9 includes an image tracker 212 and a target angle holder 20 as in FIG. 1 of the first embodiment. The determination processor 192 according to the third embodiment includes a target position displacement amount determination unit 33. Other configurations and operations are the same as those described in FIG. 1 of the third embodiment, and detailed description thereof is omitted.

  The control device 10 acquires the video signal from the heat source by the monitoring device 3, and uses the image tracking processor 62 to track the tracking target 12 with the target in the acquired video signal as the tracking target 12. The tracking controller 7 receives the tracking target position S3, which is positional information within the screen of the tracking target 12 acquired from the image tracking processor 62. The tracking controller 7 controls the line-of-sight direction of the monitoring device 3 so as to continue image tracking of the tracking target 12 based on the tracking target position S3.

  The image tracking processor 62 includes an image tracking unit 9 and a determination processor 192. The image tracking unit 9 includes an image tracker 212 and a target angle holder 20. The image tracker 212 receives the video signal S1 from the image pickup device 4. The image tracker 212 detects a target signal distinguished from the background based on the image of the video signal S1 obtained by the image pickup device 4. The image tracker 212 observes the position of the tracking target 12 from the detected target signal. At this time, the image tracker 212 measures the upper and lower angles (the depression angle) and the left and right angles (azimuth angles) from the screen center of the target signal, and obtains the position as the tracking target 12. Further, image tracking processing for continuously obtaining the position of the tracking target 12 in the target detection gate is performed using the vertical and horizontal predetermined angle ranges centered on the position of the obtained tracking target 12 as a target detection gate. The image tracker 212 outputs the position of the tracking target 12 to the target angle holder 20. The target angle holder 20 stores the vertical angle and the horizontal angle that are the position of the tracking target 12 output from the image tracker 212 in the storage device. The image tracking unit 9 outputs the position of the tracking target 12 selected from either the image tracker 212 or the target angle holder 20 to the determination processor 192. The image tracker 212 of the image tracking unit 9 observes the position displacement amount indicating the displacement of the position of the tracking target 12. The determination processor 192 outputs the position of the tracking target 12 from the image tracking unit 9 to the tracking controller 7 as the tracking target position S3.

  The tracking controller 7 obtains the position of the tracking target 12 (tracking target position S3) from the determination processor 192. The tracking controller 7 monitors based on the position of the tracking target 12 (tracking target position S3) so that the tracking target 12 continues to be located at the center of the screen including the tracking target 12 obtained by the image tracking processor 62. The line-of-sight direction of the machine 3 is controlled vertically and horizontally.

  The determination processor 192 receives a firing state signal S <b> 2 indicating the state of firing of the projectile 14 by the ejector 2 from the injection controller 8. The target position displacement amount determination unit 32 in the determination processor 192 performs image tracking continuation determination processing when there is a measured position displacement amount of the tracking target 12 and an input of the firing state signal S2 from the injection controller 8. I do.

Here, the image tracking continuation determination process by the target position displacement amount determination unit 32 will be described with reference to FIGS. FIGS. 3E and 3F are diagrams illustrating an image of a tracking target by the control device according to the first embodiment, where FIG. 3E is a diagram illustrating a position displacement of a normal tracking target, and FIG. It is a figure which shows the position displacement of a tracking target.
The target position displacement amount determination unit 33 obtains the position displacement amount of the tracking target 12 from the image tracker 212, and whether the projectile 14 is a tracking target having a large position displacement that affects the automatic tracking of the tracking target 12. Determine whether or not. When the projecting body 14 is a tracking target with high brightness and large positional displacement that affects the auto-tracking of the tracking target 12, the image tracking processor 62 and the tracking controller 7 track the projecting body 14 and automatically track the tracking target 12. This may cause an effect such that tracking cannot be continued or the tracking operation becomes unstable.

  (1) At the time t0 (t0 = <t1) immediately before the time t1 when the projecting body 14 is expected to arrive at the tracking target 12, the target position displacement amount determination unit 33 determines that the position displacement amount of the projecting body 14 is predetermined. It is determined whether or not the tracking target is a tracking target having a large position displacement that is equal to or greater than the value. In this determination, when it is determined that the projectile 14 becomes a tracking target having a large positional displacement equal to or greater than a predetermined value and affects the automatic tracking of the tracking target 12, the determination processor 192 causes the image tracking unit 9 to A command to temporarily stop the target signal detection processing by the tracker 212 is sent. The determination processor 192 switches the output of the image tracking unit 9 so as to select and output the target angle holder 20 that holds the target angle detection position. The determination processor 192 outputs the position of the tracking target 12 stored in the selected target angle holder 20 to the tracking controller 7 as the tracking target position S3.

For example, in FIG. 3C, when the projecting body 14 by the ejector 2 is a tracking target having a large positional displacement such as a fluorescent bullet, when the heat source arrives near the tracking target, the brightness around the tracking target increases. The projectile 14 affects the automatic tracking of the tracking target 12 by the image tracking processor 62 and the tracking controller 7. That is, it becomes difficult to identify the projectile 14 and the tracking target 12, and the projectile 14 is erroneously recognized as the tracking target 12, so that the positional accuracy of the tracking target 12 is deteriorated.
Thus, when the projecting body 14 by the ejector 2 is a fluorescent bullet, the target position displacement amount determination unit 32 determines that the projecting body 14 is a tracking target having a large position displacement that affects the automatic tracking of the tracking target 12. Then, the image tracking process of the tracking target 12 is temporarily stopped. Thereby, the effect of maintaining the arrival accuracy of the injection body 14 without deteriorating is obtained.

  (2) In addition, at time t2 (t1 <t2) after time t1 when the projecting body 14 arrives at the tracking target 12, the target position displacement amount determination unit 32 determines that the position displacement amount of the projecting body 14 is less than a predetermined value. If it is determined that the tracking target 12 does not affect the automatic tracking of the tracking target 12, the determination processor 192 selects and outputs the image tracker 212 to the image tracking unit 9. Accordingly, the image tracker 212 automatically restarts the image tracking process or continues the image tracking process.

  For example, in FIG. 3C, when the projecting body 14 by the ejector 2 is a normal bullet, the image tracking processor 62 does not detect the normal bullet as a target because there is no heat source, and the projecting body 14 is not subject to image tracking. It does not affect the automatic tracking of the tracking target 12 by the processor 62 and the tracking controller 7. In this way, when the projecting body 14 by the ejector 2 is a normal bullet, the determination processor 192 is the normal tracking target 12 that does not affect the automatic tracking of the tracking target 12 or the projecting body 14 is It is determined that the tracking target is not a tracking target having a large position displacement that affects the automatic tracking of the tracking target 12, and the image tracking process of the tracking target 12 is continued. At this time, the determination processor 192 does not send a command for temporarily stopping the target signal detection processing by the image tracker 212 to the image tracker 9. Thereby, the effect of maintaining the arrival accuracy of the injection body 14 without deteriorating is obtained.

  As described above, the control device according to the third embodiment is mounted on the moving body 11 having the ejector 2 that ejects the projecting body 14, and includes the imaging device 4 and the distance measuring device 5 for capturing the target image. The monitor 3 that rotates in the turning and elevation directions and directs the target direction, and outputs the angle at which the center of the image pickup device 4 is directed, and the image of the tracking target 12 imaged by the image pickup device 4 Based on this, the angle of the tracking target 12 in the screen is calculated and tracking processing is performed, and while the projecting body 14 ejected from the injector 2 passes through the screen, the image of the projecting body 14 has a large positional change. Only in the case of the tracking target 12, the image tracking processing unit 62 that temporarily stops the image tracking processing of the tracking target 12, the angle at which the center of the image pickup device 4 from the image tracking processing unit 61 is directed, and the tracking target 12 The angle in the screen The directivity angle of the ejector 2 is calculated from the directivity angle of the monitoring device 3 calculated from the tracking controller 7 that commands the directivity angle of the monitoring device 3 and the tracking controller 7. And an injection controller 8 for instructing a directivity angle.

  The image tracking processor 62 includes an image tracking unit 9 and a determination processor 192. The determination processor 192 detects a target signal that is distinguished from the background based on an image obtained by the image pickup device 4, and a target. Observe the position displacement of. For the target position, image tracking is performed as the vertical and horizontal angles from the screen center. When the determination processor 192 receives the target position displacement amount and the signal indicating the firing state from the injection controller 8, the projecting body 14 is automatically tracked at the time when the projecting body 14 is expected to arrive at the target. The target signal detection process of the angle tracking device is temporarily stopped only when the influence is exerted, the target angle holder 20 that holds the target angle detection position is selected, and the image tracking process is automatically performed after the arrival of the projectile. The image tracker 212 to be resumed is selected. As a result, the target image tracking process can be continued, so that the effect of maintaining the arrival accuracy of the projecting body 14 without deteriorating can be obtained.

Embodiment 4 FIG.
FIG. 6 is a diagram showing a configuration of a control device according to Embodiment 4 of the present invention. Hereinafter, the configuration and operation of the control device according to the fourth embodiment will be described.
In FIG. 6, the control device according to the fourth embodiment includes a monitoring device 3, a tracking controller 7, and an injection controller 8, similar to the control device of the first embodiment. The control device of the fourth embodiment has an image tracking processor 63 instead of the image tracking processor 6 of the first embodiment. The image tracking processor 63 includes an image tracking unit 9 and a determination processor 193. The image tracking unit 9 includes an image tracker 213 and a target angle holder 20 as in FIG. 1 of the first embodiment. The determination processor 193 of the fourth embodiment
It has a target luminance displacement amount determination unit 31, a target area displacement amount determination unit 32, and a target position displacement amount determination unit 33. Other configurations and operations are the same as those described in FIG. 1 of the first embodiment, and detailed description thereof is omitted.

  The image tracking processor 6 includes an image tracking unit 9 and a determination processor 193. The image tracking unit 9 includes an image tracker 213 and a target angle holder 20. The image tracker 213 receives the video signal S1 from the image pickup device 4. The image tracker 213 detects a target signal distinguished from the background based on the image of the video signal S1 obtained by the image pickup device 4. The image tracker 213 observes the position of the tracking target 12 from the detected target signal and also observes the luminance displacement amount indicating the luminance displacement of the tracking target 12. At this time, the image tracker 213 measures the upper and lower angles (the depression angle) and the left and right angles (azimuth angles) from the screen center of the target signal, and obtains it as the position of the tracking target 12. Further, image tracking processing for continuously obtaining the position of the tracking target 12 in the target detection gate is performed using the vertical and horizontal predetermined angle ranges centered on the position of the obtained tracking target 12 as a target detection gate. The image tracker 213 outputs the position of the tracking target 12 to the target angle holder 20. The target angle holder 20 stores the vertical angle and the horizontal angle that are the position of the tracking target 12 output from the image tracker 213 in the storage device. The image tracking unit 9 outputs the position of the tracking target 12 selected from either the image tracker 213 or the target angle holder 20 to the determination processor 19. The image tracker 213 of the image tracking unit 9 outputs the luminance displacement amount of the tracking target 12 to the determination processor 19. The determination processor 19 outputs the position of the tracking target 12 from the image tracking unit 9 to the tracking controller 7 as the tracking target position S3.

  The tracking controller 7 obtains the position of the tracking target 12 (tracking target position S3) from the determination processor 193. The tracking controller 7 monitors based on the position of the tracking target 12 (tracking target position S3) so that the tracking target 12 continues to be located at the center of the screen including the tracking target 12 obtained by the image tracking processor 63. The line-of-sight direction of the machine 3 is controlled vertically and horizontally.

The determination processor 193 receives from the injection controller 8 a firing state signal S2 indicating the state of firing of the projecting body 14 by the ejector 2.
When the determination processor 193 receives the target luminance displacement amount measured by the image tracker 213 and the input of the firing state signal S2 from the injection controller 8, an image tracking continuation determination process is performed.
In the determination processor 193, the target area displacement amount determination unit 32 performs image tracking when there is a measured area displacement amount of the tracking target 12 and an input of the firing state signal S <b> 2 from the injection controller 8. A continuation determination process is performed.
In the determination processor 193, the target position displacement amount determination unit 33 performs image tracking when there is a measured position displacement amount of the tracking target 12 and an input of the firing state signal S <b> 2 from the injection controller 8. A continuation determination process is performed.

  Here, the target luminance displacement amount determination unit 31, the target area displacement amount determination unit 32, and the target position displacement amount determination unit 33 are the same as those in FIG. 1 of the first embodiment, FIG. 4 of the second embodiment, and FIG. Since the operation is the same as that described in FIG. 5 of the third embodiment, a detailed description is omitted.

  In the control device according to the fourth embodiment, the image tracking processor 663 observes the target luminance displacement amount, the target area displacement amount, and the target position displacement amount, and the determination processor 193 detects the target luminance displacement amount and the target luminance displacement amount. The composite information of the area displacement amount and the target position displacement amount and a signal indicating the firing state are input from the injection controller 8. In addition, at a time when the projecting body 14 is expected to arrive at the target, the target signal detection process of the angle tracking device is temporarily stopped only when the projecting body 14 affects automatic tracking, and the target angle holder 20 is Select and automatically resume the image tracking process after the projectile arrives. Since the target image tracking process can be continued, it is possible to obtain an effect of maintaining the arrival accuracy of the projectile body without deteriorating.

  The first to fourth embodiments described above can be applied to a control device that optically tracks the tracking target 12 by the monitoring device 3 such as a television camera and injects the projectile 14 from the injector 2.

  DESCRIPTION OF SYMBOLS 1 Control apparatus, 2 ejector, 3 monitoring machine, 4 imaging device, 5 range finder, 6 image tracking processor, 61 image tracking processor, 62 image tracking processor, 63 image tracking processor, 7 tracking controller, 8 injection controller, 12 tracking target, 14 projectile, 19 determination processing unit, 191 determination processing unit, 192 determination processing unit, 193 determination processing unit, 20 target angle holder, 21 image tracking unit, 211 image tracking unit, 212 Image tracker, 213 Image tracker, 31 Target luminance displacement amount determination unit, 32 Target area displacement amount determination unit, 33 Target position displacement amount determination unit.

Claims (4)

It is mounted on a moving body having an ejector that ejects an ejector, and has an imager for capturing a target image. The imager is rotated in a turning and elevation direction to direct the target direction, and the center of the imager is A monitoring device that outputs the directional angle;
Based on the target image captured by the imager, the angle of the target in the screen is calculated and tracking processing is performed, and while the projectile ejected from the ejector passes through the screen, the image of the projectile An image tracking processor that suspends the target image tracking processing only when
A tracking controller for instructing the directivity angle of the monitoring device based on the angle at which the center of the image pickup device from the image tracking processor is directed and the angle in the target screen;
An injection controller that calculates the directivity angle of the injector from the directivity angle of the monitoring device calculated by the tracking controller, and commands the directivity angle to the injector;
Control device with   The image tracking processor includes a determination processor that detects a target signal that is distinguished from the background based on the image obtained by the image pickup device and observes the target luminance displacement amount. When there is an input of a signal indicating the firing state of the projectile, the target signal of the angle tracking device is only when the amount of luminance displacement of the projectile is greater than or equal to a predetermined value at the time when the projectile is expected to arrive at the target. The control device according to claim 1, wherein the detection processing is temporarily stopped, the target angle detection position is held, and the image tracking processing is resumed after arrival of the projectile.   The image tracking processor includes a determination processor that detects a target signal that is distinguished from the background based on an image obtained by the image pickup device and observes a target area displacement amount. When there is an input of a signal indicating the firing state of the projectile, the target signal of the angle tracking device is only when the area displacement of the projectile is greater than or equal to a predetermined value at the time when the projectile is expected to arrive at the target. 3. The control device according to claim 1, wherein the detection process is temporarily stopped, the target angle detection position is held, and the image tracking process is resumed after the projectile arrives.   The image tracking processor includes a determination processor that detects a target signal that is distinguished from the background based on the image obtained by the image pickup device and observes the amount of positional displacement of the target. When there is an input of a signal indicating the state of the projectile firing, the target signal for the angle tracking device is only when the position displacement of the projectile is greater than or equal to a predetermined value at the time when the projectile is expected to arrive at the target. 4. The control according to claim 1, wherein the detection process is temporarily stopped, the target angle detection position is held, and the image tracking process is restarted after arrival of the projectile. 5. apparatus.

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